{"id":"https://openalex.org/W4400579702","doi":"https://doi.org/10.1109/ismr63436.2024.10585572","title":"Design of Transmission Tubes for Surgical Concentric Push-Pull Robots","display_name":"Design of Transmission Tubes for Surgical Concentric Push-Pull Robots","publication_year":2024,"publication_date":"2024-06-03","ids":{"openalex":"https://openalex.org/W4400579702","doi":"https://doi.org/10.1109/ismr63436.2024.10585572","pmid":"https://pubmed.ncbi.nlm.nih.gov/40028171"},"language":"en","primary_location":{"id":"doi:10.1109/ismr63436.2024.10585572","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr63436.2024.10585572","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11866326/pdf/nihms-2052079.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112074618","display_name":"Khoa Dang","orcid":"https://orcid.org/0000-0002-6096-9089"},"institutions":[{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"education","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Khoa T. Dang","raw_affiliation_strings":["University of Tennessee,Knoxville"],"affiliations":[{"raw_affiliation_string":"University of Tennessee,Knoxville","institution_ids":["https://openalex.org/I75027704"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113286425","display_name":"Stephen Qiu","orcid":null},"institutions":[{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"education","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephen Qiu","raw_affiliation_strings":["University of Tennessee,Knoxville"],"affiliations":[{"raw_affiliation_string":"University of Tennessee,Knoxville","institution_ids":["https://openalex.org/I75027704"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108908418","display_name":"Carter Hatch","orcid":null},"institutions":[{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"education","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carter Hatch","raw_affiliation_strings":["University of Tennessee,Knoxville"],"affiliations":[{"raw_affiliation_string":"University of Tennessee,Knoxville","institution_ids":["https://openalex.org/I75027704"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102519333","display_name":"Peter Connor","orcid":null},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Connor","raw_affiliation_strings":["Vanderbilt University,Department of Mechanical Engineering"],"affiliations":[{"raw_affiliation_string":"Vanderbilt University,Department of Mechanical Engineering","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016194960","display_name":"Tony Qin","orcid":null},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]},{"id":"https://openalex.org/I1333535994","display_name":"University of North Carolina Health Care","ror":"https://ror.org/00qz24g20","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1333535994"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tony Qin","raw_affiliation_strings":["UNC Chapel Hill,Department of Computer Science"],"affiliations":[{"raw_affiliation_string":"UNC Chapel Hill,Department of Computer Science","institution_ids":["https://openalex.org/I1333535994","https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054402635","display_name":"Ron Alterovitz","orcid":"https://orcid.org/0000-0002-4492-1384"},"institutions":[{"id":"https://openalex.org/I1333535994","display_name":"University of North Carolina Health Care","ror":"https://ror.org/00qz24g20","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1333535994"]},{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ron Alterovitz","raw_affiliation_strings":["UNC Chapel Hill,Department of Computer Science"],"affiliations":[{"raw_affiliation_string":"UNC Chapel Hill,Department of Computer Science","institution_ids":["https://openalex.org/I1333535994","https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009794922","display_name":"Robert J. Webster","orcid":"https://orcid.org/0000-0003-1389-224X"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert J. Webster III","raw_affiliation_strings":["Vanderbilt University,Department of Mechanical Engineering"],"affiliations":[{"raw_affiliation_string":"Vanderbilt University,Department of Mechanical Engineering","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082291863","display_name":"D. Caleb Rucker","orcid":"https://orcid.org/0000-0001-7181-1933"},"institutions":[{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"education","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Caleb Rucker","raw_affiliation_strings":["University of Tennessee,Knoxville"],"affiliations":[{"raw_affiliation_string":"University of Tennessee,Knoxville","institution_ids":["https://openalex.org/I75027704"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5112074618"],"corresponding_institution_ids":["https://openalex.org/I75027704"],"apc_list":null,"apc_paid":null,"fwci":0.8895,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.70540119,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"2024","issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10888","display_name":"Augmented Reality Applications","score":0.9728000164031982,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9513999819755554,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/concentric","display_name":"Concentric","score":0.7825829982757568},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7144461870193481},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46857190132141113},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.4325520992279053},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3412604331970215},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3250276446342468},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28495752811431885},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.15749740600585938},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14157715439796448},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13939273357391357},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1336788535118103}],"concepts":[{"id":"https://openalex.org/C90296322","wikidata":"https://www.wikidata.org/wiki/Q619776","display_name":"Concentric","level":2,"score":0.7825829982757568},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7144461870193481},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46857190132141113},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.4325520992279053},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3412604331970215},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3250276446342468},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28495752811431885},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.15749740600585938},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14157715439796448},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13939273357391357},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1336788535118103}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ismr63436.2024.10585572","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr63436.2024.10585572","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"},{"id":"pmid:40028171","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40028171","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11866326","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11866326","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11866326/pdf/nihms-2052079.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Int Symp Med Robot","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:11866326","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11866326","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11866326/pdf/nihms-2052079.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Int Symp Med Robot","raw_type":"Text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2616631121","display_name":null,"funder_award_id":"R01EB032385","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"}],"funders":[{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4400579702.pdf","grobid_xml":"https://content.openalex.org/works/W4400579702.grobid-xml"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W2024060531","https://openalex.org/W2064680818","https://openalex.org/W2084461575","https://openalex.org/W2181520924","https://openalex.org/W2410698438","https://openalex.org/W2416562912","https://openalex.org/W2418839258","https://openalex.org/W2756278197","https://openalex.org/W2786344025","https://openalex.org/W2897381317","https://openalex.org/W3109630383","https://openalex.org/W3188235773","https://openalex.org/W3199403611","https://openalex.org/W4205519524","https://openalex.org/W4281756781","https://openalex.org/W4315754639","https://openalex.org/W4322719806","https://openalex.org/W4360603795","https://openalex.org/W4387955174"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2032745795","https://openalex.org/W4241659117","https://openalex.org/W2042569643","https://openalex.org/W4252230788","https://openalex.org/W2254998354","https://openalex.org/W4235256213","https://openalex.org/W2048369647","https://openalex.org/W1535456929","https://openalex.org/W2061842045"],"abstract_inverted_index":{"The":[0],"performance":[1],"of":[2,129,155,166],"concentric":[3],"push-pull":[4],"robots":[5],"passing":[6],"through":[7,158],"endoscopes":[8],"is":[9,60],"best":[10],"if":[11],"their":[12],"laser-cut":[13,65],"transmission":[14],"tubes":[15,170],"exhibit":[16],"high":[17,20,70,188],"axial":[18,44,71,189],"stiffness,":[19,22,45],"torsional":[21,192],"and":[23,73,87,151,191],"low":[24,74,203],"bending":[25,75,124,204],"stiffness.":[26,205],"In":[27],"this":[28,85],"paper":[29],"we":[30,94],"simultaneously":[31,68],"consider":[32,163],"all":[33,89],"three":[34,90],"output":[35],"stiffness":[36,54,72,76,91,106,145,190,193],"values":[37],"in":[38,122],"the":[39,52,140,149,156,164,169,172],"design":[40,101,150],"problem,":[41],"explicitly":[42],"considering":[43],"whereas":[46],"prior":[47],"work":[48],"has":[49],"focused":[50],"on":[51],"bending/torsional":[53],"ratio.":[55],"We":[56,147,161],"show":[57,179],"that":[58,103,180],"it":[59],"very":[61],"challenging":[62],"for":[63],"existing":[64],"patterns":[66,199],"to":[67,142],"achieve":[69,143,187],"because":[77],"these":[78],"stiffnesses":[79],"are":[80,136,175],"tightly":[81],"coupled.":[82],"To":[83],"break":[84],"coupling":[86],"balance":[88],"factors":[92],"independently,":[93],"propose":[95],"a":[96,153],"new":[97],"laser":[98,198],"material":[99],"removal":[100],"approach":[102],"leverages":[104],"local":[105],"asymmetry":[107],"<mml:math":[108],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\">":[109],"<mml:mfenced><mml:mrow><mml:mi>E</mml:mi>":[110],"<mml:msub><mml:mrow><mml:mi>I</mml:mi></mml:mrow>":[111,116],"<mml:mrow><mml:mi>x</mml:mi></mml:mrow>":[112],"</mml:msub>":[113,118],"<mml:mo>\u2260</mml:mo>":[114],"<mml:mi>E</mml:mi>":[115],"<mml:mrow><mml:mi>y</mml:mi></mml:mrow>":[117],"</mml:mrow>":[119],"</mml:mfenced>":[120],"</mml:math>":[121],"discrete":[123,133,173,182],"segments":[125,128,135,174],"separated":[126],"by":[127],"solid":[130],"tube.":[131],"These":[132],"asymmetric":[134,183],"then":[137],"rifled":[138],"down":[139],"tube":[141],"global":[144],"symmetry.":[146],"parameterize":[148],"provide":[152],"study":[154],"properties":[157],"finite-element":[159],"analysis.":[160],"also":[162],"effect":[165],"interference":[167],"between":[168],"when":[171],"not":[176],"aligned.":[177],"Results":[178],"our":[181],"segment":[184],"concept":[185],"can":[186],"better":[194],"than":[195],"previously":[196],"suggested":[197],"while":[200],"maintaining":[201],"equally":[202]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}